1. Automatic pouring process is constructed of a pouring process injecting molten metal into a mold and also transfering a poring machine from a certain place to an another place. In the present researches, the above two problems have been studied among four reserchers working in universities institution (Terashima, Toyohashi University of Technology ; Maeda, Natoya University), casting machine builder (Yoshida, Fujiwa Electric Company) and Casting Production Maker (Osada, Osada Casting Company). The results obtained in this researches are the followings.2. With respect to pouring proces, modelling, simulation and control of an automatic pouring system of tilting-type considering the fluid behavior. A mathematical model is built usitn two dimensional continuity and Navier-stokes equations with the term of tank rotation. Model validity is confirmed by experiments. The effect of operated variables like the tank shape, the position of rotary shaft and the angular velocity of tank rotation
… More is analyzed on the fluid behavior during pouring. Flow rate control and vibration control using preshaping theory guaranteeing the posotion control of tank angle are als given.3. With respect to transferring process, we proposed the liquid container transfer system with the robustness for the change of liquid level. H-infinity control theory has been applied to this system to obtain the robustness for the change of liquid level. Furthermore, a reference trajectory is reasonably determined by an optimization method of Fletcher Reefves combined with a clipping-off technique to suppress the sloshing (liquid vibration). Through simulations and experiments, the effectiveness of the present control system has been demonstrated.4.溶湯搬送においては,注湯により液位が変化するので,液位の変化に対応できる搬送制御システムを構築した.H無限大ロバスト制御により,従来の制御系に比べて,きわめて良好な制御システムが得られた.5.大学研究室で自走式自動注湯装置を製作した.試作装置により制御実験を行ったところシミュレーションと同様に良好な結果が得られ,実験室レベルの研究に関しては,当初の目的がほぼ達成できた.また,実機でタンク傾動制御を行ったところ,妥当な結果が得られた.今後は,これらの基礎結果をもとに,実機での,注湯制御,および搬送制御の実験を重ね,実機レベルでの自動注湯制御システムの完成をはかる. Less